US3745956A - Self-guidance methods and devices for anti-submarine missiles - Google Patents

Self-guidance methods and devices for anti-submarine missiles Download PDF

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US3745956A
US3745956A US00142310A US3745956DA US3745956A US 3745956 A US3745956 A US 3745956A US 00142310 A US00142310 A US 00142310A US 3745956D A US3745956D A US 3745956DA US 3745956 A US3745956 A US 3745956A
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vehicle
circuit
signal
elevational
target
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J Bertheas
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Thales SA
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Thomson CSF SA
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2273—Homing guidance systems characterised by the type of waves
    • F41G7/228—Homing guidance systems characterised by the type of waves using acoustic waves, e.g. for torpedoes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
    • F42B19/01—Steering control

Definitions

  • SHEET 7 BF 7 (AG 1 19 (MMULTIPUER GENERbR GYR ⁇ ME MARKER 9 TWO 75 RAZ(79 man comao PLATFOR ANALOG Jinn nnnw T 1 MARKERS7 TER 75 01mm 5 m. 72 DETECTOR I I COUNTER CONTROL gqvo. I
  • the present invention relates to selfguidance of destructive missiles used in anti-submarine warfare, and self-guidance systems and vehicle used in connection therewith.
  • the invention is generally related to weapons carried on vessels or by helicopters or aeroplanes and designed for destruction of adversary submarines towards which they are launched along an air and an underwater trajectory by a missile or rocket launching device.
  • the invention relates to missiles having no propulsion systems of their own of the antisubmarine type.
  • rocket is used in a broad sense to refer to a destructive missile of the type launched along a trajectory which may cover different mediums such as, for example, air and water, and which has no self-propelling power plant.
  • the aerial trajectory of an anti-submarine missile e.g., of the rocket type, launched from a surface vessel or from a helicopter for example, should always be such that the point of impact on the water is substantially vertically above the computed future position of the submersed submarine target at which the launched missile is directed.
  • the calculation of the future position of the target may be effected, for example, using sonar equipment on board the air or surface vessel from which the missile is launched, taking into account the duration of the acrial trajectory and the downward vertical velocity of the missile, the latter being assumed to reach its free fall velocity in water, very quickly.
  • the target is assumed to have a uniform rectilinear movement, not necessarily horizontal, within a known range of speeds.
  • the dispersion in the sonar measurements carried out in order to pinpoint the target, and the possible changes in the position of the target between the instant of sonar contact or recorded measurement and the instant of impact of the missile on the water, can result in the situation where the real future target position is not identical with the computed future target position. Consequently, the target is not disposd vertically beneath the point of impact of the missile in the water.
  • the majority of the current anti-submarine missiles of the rocket type carry proximity detection circuits which activate the detonator when the missile arrives in the close vicinity of the target.
  • the distance between the computed future target position represented by a point determined by a vertical dropped from the point of impact of the missile on the water and the real future target position is in excess of the radius of action of the proximity detection circuit, then it becomes necessary to correct the submarine trajectory of the missile in order to reduce this distance and thus enable the detonator to be triggered in the vicinity of the target. To this end, it is therefore necessary to provide the missile with a self-guiding device.
  • the present invention provides missiles which, while they have no self-propelling systems, are nevertheless self-guided and can be utilized to attack submarines at greater depths, for example, in the order of 500 meters.
  • accurate self-guidance of an anti-submarine missile towards a real future target position employs the known technique of proportional navigation and consists in utilizing this technique, in association with a passive listening post, to supply to vanes or ailerons designed for controlling the trajectory of the missile commands proportional to the components of the angular rate of rotation of the missile defined at each instant by the real position of the missile and of the target, this velocity being measured in relation to absolute axes.
  • FIG. 1 is a diagram illustrating an example of the launching of an anti-submarine missile from a surface vessel
  • FIGS. 2, 3 and 4 are schematic frontal, profile and end views, respectively, of the forward part of an improved missile in accordance with the invention.
  • FIG. 5 is a simplified block diagram of the circuits of the self-guidance device in an improved missile in accordance with the invention.
  • FIG. 6 is a block diagram of an acoustic channel unit belonging to the passive listening system of a missile in accordance with the invention.
  • FIGS. 7 and 8 show reception directivity patterns in azimuth and elevation relative to the different acoustic channels" provided in the system
  • FIGS. 9, 10, 11, 12 and 13 are block diagrams of the different circuits for the units which form the selfguidance device of FIG. 5;
  • FIG. 14 is a simplified block diagram of another embodiment of an azimuth target position displacement computer unit.
  • FIG. 15 is a block diagram of an electronic control unit of the control system used in the assembly according to FIG. 14.
  • FIG. 1 there is illustrated an example of the launching of a missile C from a surface vessel A, to-
  • the length of the trajectory DE is in the order of about 50 meters.
  • the acoustic guidance of an improved missile C in accordance with the invention thus commences at the point E. It makes it possible to modify the submarine trajectory of the missile within a cone of revolution F about a vertical axis extending from apex E.
  • the apex angle of this cone F which is in the order of 4060, depends upon the mechanical structure of the missile, and, for example, upon its ballasting.
  • the base G of the cone F represents the maximum zone of action of a self-guided missile in accordance with the invention.
  • the surface H represents the zone of action of the conventional missile, that is to say, the zone of action of the proximity detection facility which is all that such conventional missiles are equipped with.
  • the guidance of the missile by a proportional navigation technique is rendered possible by means of a system of passive detection of the target, that is to say, the system which listens for noises produced by the target.
  • This method of detection advantageously provides a gain in both weight and in simplicity in design and also a gain in economy since acoustic or passive detector elements are more economical than elements of an active system based upon the transmission and reception of ultrasonic waves.
  • a passive listening detection procedure is carried out, providing continuous information undisturbed by any background echoes. Noise produced by the missile itself is of course for all practical purposes out of the pictures, because of its slow speed of the missile and the absence of any self-propelling system therein.
  • the missile is kept in continuous rotation about its axis if revolution, by means of guide vanes which are given a particular angle of incidence in the inoperative condition.
  • This rotational movement makes it possible to effect omnidirectional acoustic scanning in the azimuth plane, this being well suited to a' passive listening function and being relatively inexpensive.
  • its guiding vanes are controlled as a function of the angular velocity of rotation of the straight line joining missile and target.
  • the vertical component of this velocity is given by the rate of angular rotation of the plane containing the target and the axis of rotation of the missile, while its horizontal component is given by the angular rate of rotation of the straight line joining the missile and the target, in said plane.
  • Accurate angular detection in azimuth utilizes amplitude comparison, after detection, of the signals received by two predetermined acoustic which are offset from one another. These channels are narrow in the azimuth direction and wide in the elevational direction since scanning takes place exclusively in the azimuth plane.
  • This angular detection requires an absolute azimuth reference which is furnished by means of a gyrometer associated with an integrator which cal-culates the angle through which the missile rotates between two successive passes of the acoustic axis of the passive listening system, over the target.
  • the different between the calculated angle and 360 defines the target position displacement per revolution of the missile body, and therefore the amplitude of the commands to be supplied to the guiding vanes in order to correct the inclination of the missile-target plane.
  • Efficient azimuth correction is effected by carrying out cyclic control of the vanes during the rotation of the missile, each time said vanes are in the missiletarget plane, that is to say, twice per revolution when two vanes are provided.
  • this angle depends both on the respective velocities of target and missile, and upon the difference between computed and real future target positions.
  • Two phasediscriminators enable the relative difference of this elevational angle to be measured.
  • the angular rate of maneuver of the missile in relation to absolute axes is subtracted from the measured elevational guide.
  • An accelerometer advantageously located upon the axis of rotation of the missile, enables this velocity to be measured, that is to say, the difference in trim of the latter between two measurements, and enables said value to be introduced into the calculation of the elevational target position displacement.
  • the cyclic control of the vanes in order to correct the trajectory of the missile elevationally, in the missile-target plane takes place when said vanes are perpendicular to said plane.
  • FIGS. 2, 3 and 4 respectively, illustrate a lateral view of the acoustic arrangements, a frontal view of the vanes and an end view of a missile l.
  • the tip of the missile l is occupied by an acoustic window 6 of the proximity detector fitted in said missile.
  • these are composed of two similar groups 4 and 5 of hydrophones 3 located on circular arcs having a radius extending from a point, not shown, on longitudinal axis X.
  • the hydrophones extend in a plane parallel to the axis L of the or fins 2.
  • the distance between the phase centers of these groups is made greater than the wavelength A of the acoustic signal received in passive listening.
  • the distance may be three times the wavelength or 3A. The effect of this is to increase the sensitivity of the systems ability to determine variations in elevational angle.
  • the guide vanes 2 are preferably two in number and are fixed to a transverse spindle L in the missile 1. They are inclined so as to make equal angles of opposite sign with the longitudinal axis K of the missile, this imparting a screwing motion in water to the body of the missile l.
  • the value of this angle which is, for example, in the order of about 10, determines the speed of rotation of the missile 1 around its own axis, taking into account its speed of descent. For example, it will be 2 revolutions per second for a speed of descent of m/s.
  • FIG. 5 illustrates a block diagram of the electronic circuits of the self-guidance device in a missile in accordance with the invention.
  • units 7, 8, 9 and 10 are of a similar type and form four acoustic channels X, Y, Z and Z for received signals.
  • the channels are narrow in the azimuth direction and wide in the elevational direction.
  • Three of these channels 7, 8 and 9 receive the signals picked up by the acoustic assembly 4.
  • the fourth channel 10 receives signals picked up by assembly 5.
  • FIGS. 7 and 8 show, in the reception directivity patterns in azimuth and elevation, the two channels X and Y are offset in relation to the acoustic axis M while the channels Z and Z are centered on said axis.
  • the four channels having the same elevational diagram offset in relation to the horizontal plane asa consequence of the inclination of the acoustic assemblies 4 and 5.
  • the signals from channels X and Y feed a pulse unit 11 which produces a pulse signal b corresponding to the passage over the target of the plane defined by the axes K and M of the missile 1.
  • This pulse signal b is then supplied simultaneously to a signal processing circuit or unit 12 receiving signals from the channels Z and Z and to a azimuth target position displacement computer unit 15 which computes the azimuth displacement.
  • the output of the computer unit 15 is a signal represented by AG.
  • Unit 15 also is supplied with the signal d from an integrator 14 fed by a gyrometer 13.
  • the pulse signal b is additionally supplied to said integrator 14 as well as to an elevation target position displacement computer unit 18 adapted to compute the elevational displacement, the corresponding signal of which is represented by AS.
  • the latter unit 18 is supplied with the signals x,, and y,, from the processing circuit 12, as well as with a trim-change signal Aa produced by an accelerometer l6 and applied through a deviation computing circuit 17.
  • Circuits l9 and 20 are each supplied respectively with the signals AG and AS and both of them with the signal d and produce an outut signal 0 for controlling the vanes 2 of the missile 1. This control is effected by means of a three-position (N, O, P) relay2l.
  • FIG. 6 illustrates by way of example a block circuit diagram 7 of one of the four units forming acoustic channels.
  • the directivity function X (0, t) of such a channel is given by the relationship:
  • 0 represents the direction of the sound souce in relation' to the acoustic axis of the missile
  • t represents the time and i the number of each hydrophone, this varying from 1 to n.
  • B, (0,t) represents the signal received by hydrophone number i.
  • a and (I) represent amplitude and phase weighting factors respectively, which have to be introduced in order to obtain certain conditions of directivity, beam orientation and secondary lobe level.
  • the signal 8 (0,1) produced by the assembly 4, for example, are supplied simultaneously to two weighting networks 22 and 23 of the conventional sine-cosine type, employing resistors and operational amplifiers, each followed by summing units 24.
  • the output of summing unit 24 is connected through a 1r/2 phase-shift device 25 to a summing device 26.
  • the output of summing unit 24 is connected directly to the input of summing device 26.
  • the output X (0, t) of summing device 26 constitutes the output of the channel in question.
  • the weighting factors A, and 11, are modified in order to achieve an offset between the channels X and Y.
  • the crossing over the target of the plane defined by the acoustic axis M and the rotational axis K of the missile is detected when of the signals received through the channels X are of an equal amplitude and Y.
  • This detection takes place in a pulse generator assembly 11 similar to that illustrated in FIG. 9.
  • a first processing of the signals X and Y consists in feeding them successively into band-pass filters 27 centered on the operating frequency of the hydrophones 3, then into squarelaw detectors 28 and finally into integrators 29.
  • the time constant of the integrator is chosen as a function of the speed of rotation of the missile 1 about its own axis.
  • Fine detection of the of equality between the amplitudes of the signals X and Y is then effected by means of a subtractor 30, the output of which is fed to a clipper and differentiating circuit 32.
  • the output of circuit 32 is, in turn, fed to a wave shaper circuit 33 for shaping and preserving for example positive pulses.
  • an adaptive threshold circuit 31 which effects the sum of the signals X and Y after prior processing through units 27, 28 and 29.
  • the output of circuit 31 is connected to one of the inputs of a comparator 36 and alsoto an integrating filter .34 which integrates over the period of one revolution of the missile.
  • the output of this filter 34 is fed to a threshold-regulating attenuator 35, the output of which is connected to the second input of the comparator 36.
  • Comparator 36 produces a signal corresponding to the coarse detection of the passage of the plane (K, M) over the target. This signal constitutes a kind of enabling window for AND-gate 37 to switch the pulses appearing at the output of the circuit 33.
  • the output of comparator 36 is connected to one input of AND-gate 37 operated by the presence of an output of the comparator 36 and shaper 33.
  • the pulses b produced by AND- gate 37 thus correspond without ambiguity to a crossing over the target.
  • FIG. 10 illustrates a diagram of the azimuth target position displacement computer unit 15 which calculates the azimuth displacement AG of the plane (K,M).
  • a gyrometer 13- associated with an integrator 14 supplies an aboslute azimuth reference d to this unit 15.
  • the integrator 14 is reset to zero by the signal b coming from the unit 11, and thus determines the angle through which the missile l rotates between two successive crossings on the part of the plane (K,M) over the target.
  • the value d after being supplied to a sampler38 controlled by the signal b, is stored in the element 39 connected to receive the output of sampler 38. It is then fed into a subtractor 40 which is also supplied with a signal corresponding to the value 360.
  • the output of the subtractor is fed to element 41 which multiplies the deviation thus determined, by the proportional navigation coefficient k, thus producing a value AG whose sign and amplitude define the nature of the azimuth control to be applied to the vanes 2 of the missile.
  • the signals picked up in the channels Z and Z are used.
  • the band-pass filters 27, identical to those of the unit 11, transmit said signals simultaneosuly to two phase discriminators.
  • One 42 is a cosine discriminator and the other 43 is a sine discriminator.
  • the signals of channel Z are transmitted to the sine discriminator through the medium of a 1r/2 phase-shift device 25.
  • Each discriminator is identical to the other and made up of two channels each comprising a square-law detector 28 followed by an integrator 29. These two elements are identical to those of the unit 11.
  • the outputs of the two integrators 29 are connected to the respective inputs of a subtractor 46.
  • one of the channels contains an adder 44 while the other contains a subtractor 45.
  • the output signals 1: and y from the discriminators 42 and 43 are two sine waves in phase-quadrature. These signals are subsequently sampled in the elements 47 and 48 controlled by the signal b produced by the unit 11.
  • the output of the unit 12 therefore, with each occasion of crossing of the plane (K,M) across the target, values x,, and y,, are obtained.
  • FIG. 12 illustrates a block circuit'diagram of such a circuit, 18, for calculating the elevational displacement AS.
  • the successive sampled values x,, x,, and y,, y,, are fed into stores 49 before being subtracted from one another in the subtractors 50.
  • Subtractors 50 supply to dividers 51 and 52 respectively, the values Ax, and Ay,,.
  • These elements 51 and 52 are also supplied by the stores 49 with the respective values y, and x,, and produce at their outputs the values Ax /y and Ay,,/x,,.
  • a polarity changer 53 links the output of the divider 51 to one input of a switch 54. The other input of switch 54 is taken from the output of the divider 52.
  • the control signal for the switch 54 is produced by a circuit 55 which compares the absolute value x, and y,,.
  • the output of switch 54 is connected to one of the inputs of a subtractor 56 supplied at its other input with the value Aa produced by the trim deviation circuit 17.
  • the successive sampled values t and a, of the trim angle of the missile after their storage in elements 49 are applied to the inputs of a subtractor 50 which furnishes the value Aa,,.
  • the desired value AS is obtained at the output of a multiplier 41 (multiplication by k) which receives the value or signal produced by the subtractor 56.
  • the values AG, AS and d thus determined are subsequently processed through two similar control generator circuits l9 and 20 whose function is to effect the control of the vanes 2.
  • the control is preferably arranged to be of the all-or-nothing type, so that the vanes have three possible positions corresponding to the three positions N, O, P of the relay 21.
  • the position 0 is a rest position in which the inclination of the vanes is permanently equal to a value which produces the desired speed of rotation, that is to say, in the order of 10 for a speed of rotation of two revolutions per second.
  • the vanes are likewise inclined to either side of the rest position 0 by a predetermined value. The time for which the vanes are maintained in one or other of these positions determines the amplitude of the trajectory correction which is effected.
  • This operation of the vanes will, for example, be carried out four times per revolution; twice in the elevational sense, that is to say, when the acoustic axis M crosses the target and when it is at 180 to that position; and twice in the azimuth sense when the acousting axis M is perpendicular to the two aforedefined positions. If the speed of rotation of the missile is equal to two revolutions per second, the maximum duration of each control operation will therefore be 6 /sec. As far as the choice of the positions N, O, P of the vanes is concerned, it depends upon the sign of the azimuth or elevational displacement as well as on the position of the value d furnished by the integrator 14 in relation to the ranges of action of the control functions.
  • the table set out hereinafter illustrates by way of example the nature of the control function 0 applied to the relay 21 as a function of these two parameters.
  • FIG. 13 illustrates a circuit 19 for generating the azimuth commands c.
  • the value AG is applied to a divider (division by 2) whose output is connected simultaneously to two subtractors 58 and and two adders 59 and 61.
  • the subtractor 58 and the adder 59 are also supplied with the signal or value 90 while the elements 60 and 61 receive the signal or value 270.
  • Four subtractors 62, 63, 64 are respectively supplied on the one hand with the outputs from the elements 58, 59, 60 and 61, and on the other with the signal d produced by the integrator 14.
  • the outputs of the subtractors 62 and 63 are applied to an exclusive OR- gate 66.
  • a second identical gate 67 receives the outputs from the elements 64 and 65.
  • the gate 66 is connected to a circuit 68 which produces at its output 0 a signal having a voltage of polarity identical to the sign of AG.
  • the element 67 is connected to a circuit 69 which produces at the output a signal c having a voltage of opposite polarity to the sign of AG.
  • the relay 21 will be set to N or P. The absence of a voltage corresponds to the position 0.
  • Identical commands are generated by the circuit 20 which is similar to the circuit 19 described hereinbefore except that the signals or values AG, 90 and 270 are replaced respectively by AS, and 180.
  • the gyrometer 13 partakes the rotation of the missile about its own axis. It must therefore be capable of achieving high accuracy,-for example, in the order of 0.5/sec., about a means working point corresponding to a high angular velocity, for example in the order of l,0O0/sec., something which cannot be achieved except in certain kinds of high-precision gyrometers.
  • the unit used to compute the azimuth displacement AG of the target position employs a conventional gyrometer whose means working point corresponds to zero angular velocity.
  • the gyrometer 13 is dissociated from the rotational movement of the missile about its own axis, by virtue of the fact that it is fixed to a controlled platform 70 which has only one degree of freedom, about its axis 71, said axis coinciding with the axis of rotation K of the missile.
  • the platform 70 is controlled so that the angular velocity g detected by the gyrometer 13 is zero.
  • the platform 70 is controlled to maintain it aligned on the detected target, its reference plane then of course containing the target direction. This reference plane is defined by a marker 74 integral with the platfonn 70.
  • control unit 73 An example of the control unit 73 is shown in FIG. 15.
  • a differential circuit 81 of conventional type receives the pulses b and m and produces an electrical signal proportional to the time interval separating the respective instants of appearance of said pulses b and m.
  • the signal is applied to a summing circuit 83 in which there is subtracted from it the value of the signal g furnished by the gyrometer 13.
  • the output of 83 is fed to an error amplifier 84, the output of which connects the output of circuit 83 to the servo motor 72.
  • the accelerometer 16 which is used to determine the trim deviation A01, of the missile, so that the indications it produces are not falsified by the centrifugal acceleration, something which is not always an easy matter to do. by its arrangement of said accelerometer 16 on the platform 70 so that its sensitive axis is located in the reference plane of the platform perpendicularly to its axis of rotation 71.
  • a self-guiding and target-homing launched submarine vehicle of the missile type having a longitudinal axis and assuming after entering in water a substantially vertical trajectory essentially due to its own mass under the influence of gravity comprising mobile controllable steering surface means for simultaneously imparting a continuous rotation about said longitudinal axis of the vehicle to modify its trajectory in accordance with cyclically applied control signals;
  • a passive submarine listening system means for detecting acoustic signals from the target said system including panoramic acoustic scanning means;
  • control signals derived from data received by said listening system means, said data representing the angular rotation rate of an imaginary straight line joining the vehicle and the target;
  • command signals are applied to the control position of the vanes of the vehicle in order to correct its trajectory, said command signals being of two types, means for generating said first type of command signals from measurements of the azimuth angles of the target, carried out by the passive listening system of the vehicle, said first type of command signals corresponding to azimuth corrections, and means for generating said sec.- ond type of command signals from measurements of the elevational angles of the target, effected by said listening system and corresponding to elevational corrections.
  • a self-guiding vehicle as claimed in claim 4 comprising two groups of several hydrophones each located at the surface of the vehicle about its axis of rotation (K), on two circular arcs located in two planes perpendicular to said axis, adjacent hydrophones being spaced by an interval exceeding the wavelength of the acoustic wave to be picked up, said two arcs having different radii.
  • a self-guiding vehicle as claimed in claim 2 comprising two groups of several hydrophones each located at the surface of the vehicle about its axis of rotation (K), on two circular arcs located in two planes perpendicular to said axis, adjacent hydrophones being spaced by an interval exceeding the wavelength of the acoustic wave to be picked up, said two arcs having different radii.
  • a self-guiding vehicle as claimed in claim 1 comprising two similar groups of several hydrophones each located at the surface of the vehicle about its axis of rotation (K), on two circular arcs located in two planes perpendicular to said axis, said two groups being spaced by an interval exceeding the wavelength of the acoustic wave to be picked up, said two arcs having dif ferent radii.
  • a self-guiding vehicle as claimed in claim 7, further including weighting and summing circuits for combining the outputs of the hydrophones in each of the two said groups, in order on the one hand from one and the same group to form two acoustic receiving channels (X, Y) azimuthally offset symmetrically in relation to the acoustic'axis (M) of the two groups (X, Y), and on the other hand, from the two groups two acoustic receiving channels (Z, 2,) centered on said acoustic axis 7 (M) but producing signals which are out of phase with one another, the four acoustic channels having reception patterns which are narrow in the azimuth or yaw direction and wide in the elevational direction.
  • a self-guiding vehicle as claimed in claim 8 further including an amplitude comparison unit, means for applying the two signals produced by the two acoustic channels (X, Y) which are offset in the yaw direction to said amplitude comparison unit, said unit being operatively arranged to produce a pulse signal (b) characteristic of equality between these two signals, that is to say, of the passage of the plane defined by the axis of rotation (K) of the vehicle and its acoustic axis (M) over the target.
  • said comparison unit comprises an auxiliary circuit arranged to continuously form the sum of the two said signals produced by said two channels (X, Y) and inhibit the output of the comparison unit when said sum is below an adaptive threshold which is a function of the value of said sum integrated over a period of rotation of the vehicle so as to suppress possible ambiguities due to secondary lobes in the reception diagrams of said two channels.
  • a transfer unit for calculating the azimuth
  • a self-guiding vehicle as claimed in claim 13, further including two phase discriminators, means for applying the two signals produced by the two acoustic channels (Z, Z,) centered on the acoustic axis (M) of the vehicle and delivering the out-of-phase signals to said two phase discriminators, one of which is a cosine and the other a sine discriminator, producing as a function of the sine of the relative elevational angle (3) of the target, two sinusoidal signals (x, y) in phase quadrature, a pair of samplers, means for applying to said sam plers the two sinusoidal signals (x, y), said samplers being controlled by said pulse signal (b) which is characteristic of the occasions of passage of said plane (K, M) over the target, an elevational transfer unit, means for applying the two thus sampled signals (x,,, y,,) to said transfer unit which calculates the elevational transfer (AS), said transfer unit comprising a multiplier circuit, a first circuit for generating relative elevational deviation (Am), and
  • a self-guiding vehicle as claimed in claim 14, further including means for controlling the position of said two vanes, the azimuth and elevational correcting command signals for the vehicle being respectively applied to said means to control the two moving vanes, each twice per vehicle revolution, the azimuth correction commands being applied when the plane of symmetry of said vanes coincides with the plane containing the axis of rotation of the vehicle and the straight line joining vehicle and target, the elevational correcting commands being applied when the plane of symmetry of said vanes is perpendicular to said plane containing said axis of rotation and the straight line joining vehicle and target.
  • said transfer unit which calculates the elevational transfer (AS), said transfer unit comprising a multiplier circuit, a first circuit for generating relative elevational deviation Bh), and a second circuit which subtracts from said relative elevational deviations the sampled variations in the trim angle (Aa,,) of the vehicle, said second circuit then producing a signal, which, after multiplication in a multiplier circuit (41) by the proportional navigation coefficient (k), is characteristic of said elevational transfer (AS), its sign and amplitude defining the elevational correction to be made to the moving vanes of the vehicle and means for applying the signal of said second circuit to said multiplier circuit 18.
  • a self-guiding vehicle as claimed in claim ill in which circuit means are provided for generating a signal for controlling the moving vanes, means connected between the comparator unit which compares the amplitude of the signals from the two acoustic channels (X, Y), and the circuit means for controlling the vanes, said means comprising a gyrometer attached to a mounting capable of rotation independently of the missile rotation, an electromechanical positional control system for the gyrometer arranged. such that in the absence of the target being located, the gyrometer produces a zero detected angular velocity signal (g) and,
  • the gyrometer remains aligned in a reference plane containing the direction of the detected target, a dual marking system for marking the position of the reference plane, and circuits for generating the value (d) of the angular position of the acoustic axis (M) of the vehicle as a function of time.
  • the gyrometer mounting comprises a platform equipped at its edge with a marker defining the reference plane and a disc provided at its edge with equidistantly spaced markers in a number which is determined as a function of the requisite accuracy of determination of said value (d) of the angular position of the acoustic axis, said mounting being assembled on a spindle defining its axis of rotation and a servo motor associated with the control system for driving the spindle.
  • a vehicle as claimed in claim wherein the dual marker system comprises, fixed to the vehicle and at the level of said markers a first detector arranged so that on passage of the marker a pulse (m) is produced synchronously with the pulse (b) produced by the comparison unit, and including an electronic control unit and a counter, said pulse being applied to one input of said electronic control unit of the control system and to an input of the counter in said circuits for generating the value (d) of the angular position, and a second detector supplying to a second input of said counter pulses produced by the passage of markers located at the periphery of the disc.
  • the electromechanical position control comprises in the electronic control portion of the control system, connected in series, a differential circuit connected to the output of the comparison unit by one of its inputs, the other input being connected to the output of the first detector of the marking system and furnishing at its output a signal proportional to the time difference between the respective instants of appearance of the pulses applied to said inputs, an integrating circuit, an adder circuit where subtraction of the value of the angular velocity signal (g) is effected, and an amplifier for amplifying the resultant error signal which is applied to the device controlling the servo motor.
  • a vehicle as claimed in claim 19 wherein the dual marker system comprises, fixed to the vehicle and at the level of said markers a first detector arranged so that on passage of the marker a pulse (m) is produced synchronously with the pulse (b) produced by the comparison unit, and including an electronic control unit and a counter, said pulse being applied to one input of said electronic control unit of the control system and to an input of the counter in said circuits for generating the value (d) of the angular position, and a second detector supplying to a second input of said counter pulses produced by the passage of markers located at the periphery of the disc.
  • the electromechanical position control comprises in the electronic control portion of the control system, connected in series, a differential circuit connected to the output of the comparison unit by one of its inputs, the other input being connected to the output of the first detector of the marking system and furnishing at its output a signal proportional to the time difference between the respective instants of appearance of the pulses applied to said inputs, an integrating circuit, an adder circuit where subtraction of the value of the angular velocity signal (g) is effected, and an amplifier for amplifying the resultant error signal which is apllied to the device controlling the servo motor.
  • said circuits for generating the value (d) comprise a counter of the digital type arranged to be reset to zero by the pulse (m) from the first detector and count the pulses from the second detector and comprises also a digitalto-analog converter for producing the value (d) at its output terminal, and means connecting said converter to receive the output of said counter.
  • the electromechanical position control comprises in the electronic control portion of the-control system, connected in series, a differential circuit connected to the output of the comparison unit by one of its inputs, the other input being connected to the output of the first detector of the marking system and furnishing at its output a signal proportional to the time difference between the respective instants of appearance of the pulses applied to said inputs, an integrating circuit, an adder circuit where subtraction of the value of the angular velocity signal (g) is effected, and an amplifier for amplifying the resultant error signal which is applied to the device controlling the servo motor.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Navigation (AREA)
US00142310A 1970-05-29 1971-05-11 Self-guidance methods and devices for anti-submarine missiles Expired - Lifetime US3745956A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7019737A FR2087739A5 (xx) 1970-05-29 1970-05-29
FR7036928A FR2112582A6 (xx) 1970-05-29 1970-10-13

Publications (1)

Publication Number Publication Date
US3745956A true US3745956A (en) 1973-07-17

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US00142310A Expired - Lifetime US3745956A (en) 1970-05-29 1971-05-11 Self-guidance methods and devices for anti-submarine missiles

Country Status (5)

Country Link
US (1) US3745956A (xx)
DE (1) DE2126690C3 (xx)
FR (1) FR2112582A6 (xx)
GB (1) GB1341745A (xx)
SE (1) SE388029B (xx)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6046962A (en) * 1997-05-27 2000-04-04 Thomson Marconi Sonar Sas Electrodynamic transducer for underwater acoustics
US6144342A (en) * 1996-02-13 2000-11-07 Thomson-Csf Method for controlling the navigation of a towed linear acoustic antenna, and devices therefor
US20060180044A1 (en) * 2005-02-15 2006-08-17 Lockheed Martin Corporation Anti-submarine warfare cluster munitions an cluster depth charges
US20080148926A1 (en) * 2004-09-24 2008-06-26 Hermann Grosch Device for delivering a payload, especially for neutralizing mines or the like
US20080203216A1 (en) * 2005-06-16 2008-08-28 Aeroart, Societe Par Actions Simplifiee Multi-Environment Engine
US20120138727A1 (en) * 2010-04-30 2012-06-07 Elbit Systems Of America, Llc Unmanned Aerial Vehicle Based Sonar Buoy
CN102963513A (zh) * 2012-09-10 2013-03-13 缪仙荣 一种拟音潜艇
CN103776315A (zh) * 2012-10-23 2014-05-07 刘威孝 深潜弹
US11168960B2 (en) * 2017-04-12 2021-11-09 Wilcox Industries Corp. Modular underwater torpedo system

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Publication number Priority date Publication date Assignee Title
GB2135777A (en) * 1983-02-17 1984-09-05 Brazier Jones Mark William Sound responsive devices

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US2599579A (en) * 1943-02-01 1952-06-10 Robert H Park Streamline depth charge
US3072365A (en) * 1957-09-16 1963-01-08 Missile Corp Pilotless craft guidance method and means
US3238910A (en) * 1943-06-22 1966-03-08 Bell Telephone Labor Inc Signal controlled steering system
US3648636A (en) * 1967-12-26 1972-03-14 Gen Electric Acoustic guidance system

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US3332382A (en) * 1959-09-16 1967-07-25 Francis P Finlon Target search apparatus for homing torpedoes
US3523659A (en) * 1968-03-04 1970-08-11 Gen Dynamics Corp Rolling missile guidance system having body fixed antennas
US3527429A (en) * 1968-03-15 1970-09-08 Gen Dynamics Corp Body motion decoupler

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
US2599579A (en) * 1943-02-01 1952-06-10 Robert H Park Streamline depth charge
US3238910A (en) * 1943-06-22 1966-03-08 Bell Telephone Labor Inc Signal controlled steering system
US3072365A (en) * 1957-09-16 1963-01-08 Missile Corp Pilotless craft guidance method and means
US3648636A (en) * 1967-12-26 1972-03-14 Gen Electric Acoustic guidance system

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6144342A (en) * 1996-02-13 2000-11-07 Thomson-Csf Method for controlling the navigation of a towed linear acoustic antenna, and devices therefor
US6046962A (en) * 1997-05-27 2000-04-04 Thomson Marconi Sonar Sas Electrodynamic transducer for underwater acoustics
US7493843B2 (en) * 2004-09-24 2009-02-24 Rheinmetall Landsysteme Gmbh Device for delivering a payload, especially for neutralizing mines or the like
US20080148926A1 (en) * 2004-09-24 2008-06-26 Hermann Grosch Device for delivering a payload, especially for neutralizing mines or the like
US7503259B2 (en) * 2005-02-15 2009-03-17 Lockheed Martin Corporation Anti-submarine warfare cluster munitions and cluster depth charges
US20060180044A1 (en) * 2005-02-15 2006-08-17 Lockheed Martin Corporation Anti-submarine warfare cluster munitions an cluster depth charges
US20080203216A1 (en) * 2005-06-16 2008-08-28 Aeroart, Societe Par Actions Simplifiee Multi-Environment Engine
US20120138727A1 (en) * 2010-04-30 2012-06-07 Elbit Systems Of America, Llc Unmanned Aerial Vehicle Based Sonar Buoy
US8492692B2 (en) * 2010-04-30 2013-07-23 Elbit Systems Of America, Llc Unmanned aerial vehicle based sonar buoy
CN102963513A (zh) * 2012-09-10 2013-03-13 缪仙荣 一种拟音潜艇
CN102963513B (zh) * 2012-09-10 2015-06-17 缪仙荣 一种拟音潜艇
CN103776315A (zh) * 2012-10-23 2014-05-07 刘威孝 深潜弹
US11168960B2 (en) * 2017-04-12 2021-11-09 Wilcox Industries Corp. Modular underwater torpedo system

Also Published As

Publication number Publication date
GB1341745A (en) 1973-12-25
SE388029B (sv) 1976-09-20
DE2126690A1 (de) 1971-12-02
DE2126690B2 (de) 1975-03-20
DE2126690C3 (de) 1975-10-30
FR2112582A6 (xx) 1972-06-23

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